EP4025391A1 - Système de manipulation et procédé de pliage d'une pièce - Google Patents

Système de manipulation et procédé de pliage d'une pièce

Info

Publication number
EP4025391A1
EP4025391A1 EP20780900.5A EP20780900A EP4025391A1 EP 4025391 A1 EP4025391 A1 EP 4025391A1 EP 20780900 A EP20780900 A EP 20780900A EP 4025391 A1 EP4025391 A1 EP 4025391A1
Authority
EP
European Patent Office
Prior art keywords
coupling element
manipulator
bearing device
gripping tool
shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20780900.5A
Other languages
German (de)
English (en)
Other versions
EP4025391C0 (fr
EP4025391B1 (fr
Inventor
Gerhard Angerer
Klemens Freudenthaler
Florian Hausmann
Matthias HÖRL
Nenad KOVJENIC
Florian Maier
Michael SCHERNHAMMER
Verena STEININGER
Helmut Theis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Trumpf Maschinen Austria GmbH and Co KG
Original Assignee
Trumpf Maschinen Austria GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Trumpf Maschinen Austria GmbH and Co KG filed Critical Trumpf Maschinen Austria GmbH and Co KG
Publication of EP4025391A1 publication Critical patent/EP4025391A1/fr
Application granted granted Critical
Publication of EP4025391C0 publication Critical patent/EP4025391C0/fr
Publication of EP4025391B1 publication Critical patent/EP4025391B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B21D43/052—Devices having a cross bar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0281—Workpiece supporting devices

Definitions

  • the invention relates to a manipulator assembly and a method for bending a construction part.
  • transverse arms in order to couple several robot arms with one another.
  • EP 3219448 B1 describes a workpiece transport device for a press machine with two robots.
  • Each of the robots comprises a raising and lowering frame which is supported on a stationary frame (F), and a first arm and a second arm with a distal end.
  • Each of the first arms can be rotated about a vertical axis by means of its own drive mechanism.
  • a transverse arm is also provided, by means of which the two distal ends of the second arms are coupled.
  • the transverse arm is freely rotatably mounted about its longitudinal axis in each case by means of a joint on the second arms.
  • a workpiece holding unit is detachably connected to the transverse arm, a central pivot bearing of the workpiece holding unit being provided on the transverse arm.
  • EP 2908985 B 1 describes a system for handling workpieces in a press senstrasse by means of two robots.
  • Each of the robots comprises robot arms, the two outermost robot arms of each robot being connected to one another by means of a transverse arm.
  • the transverse arm is also designed to be variable in length, the two transverse arm parts being rotatable relative to one another about their longitudinal axis.
  • At least one workpiece holding unit is rotatably mounted on the transverse arm.
  • the object of the present invention was to overcome the disadvantages of the prior art and to provide a device and a method by means of which a simple and reliable coupling of manipulators is made possible. Furthermore, it was the object of the invention to increase the flexibility with regard to size and weight of components which are transported or held by means of manipulators. This object is achieved by a device and a method according to the claims.
  • the invention relates to a manipulator arrangement for the transport and / or handling of components, in particular sheet metal parts, comprising a first manipulator with a first rotatably mounted coupling element for a gripping tool and a second manipulator with a second coupling element for a gripping tool, a coupling element comprising a first coupling element for the first manipulator, a second coupling element for the second manipulator and a first rotatable bearing device for a gripping tool.
  • the first coupling element comprises a second rotatable bearing device, the second bearing device being mechanically coupled to the first bearing device and wherein a rotary movement acting on the first coupling element can be transmitted to the first bearing device via the second bearing device.
  • the manipulators can be handling devices for components of any kind; multi-axis industrial robots are preferably used, which are coupled to one another by means of the coupling element.
  • a coupling device comprises a coupling element and a coupling member, which are designed to be connectable to one another or to be coupled to one another.
  • a gripping tool can be coupled to the coupling element, wherein the gripping tool can be a vacuum gripper, pincer gripper, magnetic gripper or plate gripper.
  • the gripping tool can be a vacuum gripper, pincer gripper, magnetic gripper or plate gripper.
  • the gripping tool can be a vacuum gripper, pincer gripper, magnetic gripper or plate gripper.
  • the coupling element and gripping tool form an integrated unit, the coupling element being a common assembly with the gripping tool forms. This enables faster coupling and uncoupling of the integrated unit of coupling element and gripping tool.
  • very heavy components can be safely transported by means of the manipulator arrangement according to the invention, several similar manipulators being used to pick up, transport and hold the heavy component, the weight of the component being evenly divided between the manipulators.
  • operating and / or system safety can be increased and safety-critical situations can be prevented.
  • the coupling element according to the invention creates a large number of possible uses, thus expanding the product range and increasing flexibility for the user.
  • the handling of large components with the Manipula gate arrangement according to the invention is facilitated or made possible after large-area gripping tools can be safely used or picked up by the manipulator arrangement by means of the coupling element of the Mani pulators coupled to one another.
  • components held by the manipulator arrangement can simply be rotated through a predetermined angle on the manipulator arrangement without having to put the component down. After processing steps have been carried out on the component, it can thus be rotated easily and quickly into a new spatial position, which is required for carrying out further processing steps. Additional facilities such as turntables or turntables are omitted, which can further reduce the space required by a technical system.
  • productivity can thus be increased with the manipulator arrangement according to the invention and the time taken to carry out machining steps on the component can be reduced.
  • Another advantage of the manipulator arrangement according to the invention is that no additional or separate drive or actuator need be provided in the coupling element for rotating the component in the coupling element. Due to the mechanical coupling of the first Manipulator with the rotatably mounted coupling member for the gripping tool on the coupling element, drive or rotating devices provided as standard in the manipulators can be used to rotate the component.
  • the passive coupling element is used to transmit the rotational movement from the second bearing device to the first bearing device. In this case, additional components for drives, bearings, etc. in the coupling element are omitted, which enables a more cost-effective and maintenance-friendly design of the coupling element.
  • a third coupling element is mounted in the first bearing device, by means of which a gripping tool can be coupled to the coupling element.
  • the flexibility of the coupling element can be increased to the extent that different gripping tools can be picked up by means of the coupling element and can be changed in the course of a production process.
  • a production process can be a sequence of several bending cycles, with a different gripping tool being able to be changed before each bending cycle.
  • the third coupling element is advantageously also designed as a quick-change coupling.
  • first bearing device comprises a first rotatable shaft and that the second bearing device comprises a second rotatable shaft, the first shaft and the second shaft being rotatably coupled to one another.
  • a rotary movement applied to the second shaft can hereby be transmitted to the second shaft and the second shaft does not need to be driven separately.
  • the first shaft is thus also set into a rotation, with a gripping tool and a component picked up by it also being rotated.
  • a bearing device can be a roller bearing, such as a ball bearing.
  • a roller bearing such as a ball bearing.
  • other types of bearings such as plain bearings, can also be used.
  • a first toothed belt pulley is arranged on the first shaft and that a second toothed belt pulley is arranged on the second shaft, wherein the first toothed belt pulley and the second toothed belt pulley are connected to one another via a toothed belt.
  • Standard mechanical components such as toothed belt pulleys and toothed belts can be used to convert the rotary movement.
  • toothed belt pulleys and toothed belts can be used to convert the rotary movement.
  • the first toothed belt pulley and the second toothed belt pulley can also be connected to one another by means of a chain, with which a chain transmission can be formed.
  • first toothed belt pulley has a first pulley diameter and the second toothed belt pulley has a second pulley diameter, the first pulley diameter being different from the second pulley diameter.
  • a first gear of a gear transmission is arranged on the first shaft and that a second gear of the gear transmission is arranged on the second shaft, with a rotational movement acting on the second shaft via the second gear (36) to the first gear and the first shaft is transmittable.
  • a gear drive can be provided for transmitting the rotary movement from the second shaft to the first shaft.
  • the gear transmission can include a variety of gears.
  • the first and / or second coupling element comprises an interface for the transmission of at least one fluid working medium and / or an electrical signal.
  • a fluid working medium and an electrical signal can be transmitted from a manipulator to a gripping tool via the coupling element.
  • the fluid working medium can be a vacuum, with which a vacuum gripper coupled to the coupling element is supplied.
  • the coupling element can thus be designed simply, since a separate supply unit for working media or electrical signals on the coupling element is omitted.
  • the coupling element can thus be made as compact as possible and with few mechanical or electronic components.
  • the first bearing device comprises a rotary transmitter and / or an energy guiding chain, which are designed to transmit at least one fluid of the working medium and / or an electrical signal to a gripping tool, which can be coupled to the coupling element.
  • fluid working media and electrical signals are advantageously transmitted via rotary transmitters or slip rings. This enables an endless rotation or an infinite number of revolutions of the gripping tool.
  • an energy guide chain can also be provided, by means of which a limited number of revolutions is made possible.
  • the second coupling element comprises a bearing element that is flexible in shape.
  • a bearing element that is flexible in shape can be designed in the form of a vacuum suction device or as a plurality of spring-loaded gripping elements.
  • the second coupling element thus forms an elastic coupling point between the second manipulator and the coupling element. In this way, inaccuracies in the manipulators, for example when moving along a travel path, or manufacturing tolerances can be compensated for.
  • the coupling element comprises at least one third coupling element for at least one third manipulator.
  • a multiplicity of coupling elements for a multiplicity of manipulators can be provided on the coupling element, it being possible to increase the flexibility with regard to the weight and size of a component to be transported.
  • At least the first manipulator and / or the second manipulator comprise a rotary drive which is designed to set the first coupling member and / or the second coupling member in a rotary motion.
  • Manipulators such as industrial robots include a large number of drives as standard, with which a gripping tool coupled to the coupling element according to the invention can be set in a rotary movement.
  • the invention further relates to a method for bending a component, in particular a sheet metal part
  • a first bending cycle with at least one bending step on the construction part wherein after the first bending cycle by means of the first manipulator, a rotary movement is brought up on the first coupling element; wherein the rotary movement is transmitted to a first bearing device via a second bearing device of the first coupling element; wherein the rotational movement is transmitted from the first bearing device to the gripping tool and the component held thereon; and wherein the component is rotated from a first spatial position by a first predetermined angle of rotation into a second spatial position.
  • several bending cycles can be carried out quickly one after the other with the method according to the invention, after the component can be rotated by means of the coupling element or the gripping tool coupled to it and does not have to be placed on a turntable between individual bending cycles and then picked up again.
  • This can increase productivity and reduce throughput times.
  • the predetermined angle of rotation is a defined angle by which a component has to be rotated between individual bending cycles, for example in order to successively perform bends on a long side and bends on a narrow side of a component.
  • At least one second bending cycle with at least one bending step is carried out on the component in the second spatial position.
  • the advantage here is that the second bending cycle can be started essentially immediately after the first bending cycle, after the component does not have to be put down in between to change the spatial position. Overall, the duration of an entire bending process can thus be reduced.
  • the component is rotated from the second spatial position by a second predetermined angle of rotation into at least one third spatial position.
  • the sheet metal part can be rotated by a further predetermined angle of rotation into at least a third spatial position, with a third bending cycle being able to be started essentially immediately after the second bending cycle.
  • the number of changes in position and bending cycles can be expanded as required, depending on the product to be manufactured. In turn, it is advantageous that the throughput time of an overall process with a large number of bending cycles can be reduced.
  • Fig. 1 shows a manipulator arrangement, wherein a first manipulator is coupled to a second manipulator by means of a Kop pelelement
  • FIG. 4 shows an embodiment of a coupling element in a side view
  • FIG. 5 shows an embodiment of a coupling element in a plan view
  • FIG. 6 shows a further embodiment of a coupling element
  • FIG. 7 shows a further embodiment of a coupling element with a gripping tool
  • FIG. 8 shows a production plant with a bending machine and a manipulator arrangement.
  • FIG. 1 shows a manipulator arrangement 1, a first manipulator 2 being coupled to a second manipulator 4 by means of a coupling element 3.
  • the Manipula gate arrangement 1 is designed for the transport and / or handling of components 5, in particular sheet metal parts 6.
  • the first manipulator 2 comprises a first rotatably mounted coupling element 7 to which a gripping tool 8 can be coupled
  • the second manipulator 4 comprises a second coupling element 9 to which a gripping tool 8 can be coupled.
  • the coupling element 3 comprises a first coupling element 10 for the first manipulator 2, a second coupling element 11 for the second manipulator 4 and a first rotatable bearing device 12 for a gripping tool 8.
  • the first coupling element 10 further comprises a second rotatable bearing device 13, the second bearing device 13 being mechanically coupled to the first bearing device 12 and a rotary movement 14 acting on the first coupling element 10 being transmitted via the second bearing device 13 to the first bearing device 12.
  • the manipulator arrangement 1, or the first manipulator 2 and the second manipulator 4 can be moved along a displacement path 15.
  • the manipulator arrangement 1, or the first manipulator 2 and the second manipulator 4 can be moved to a processing device 16, not shown, where processing steps are carried out on the component 5 or sheet metal part 6 picked up by the gripping tool 8 can.
  • a processing device 16 not shown, where processing steps are carried out on the component 5 or sheet metal part 6 picked up by the gripping tool 8 can.
  • bends on a longitudinal side 32 and bends on a narrow side 33 of the component can be carried out one after the other.
  • FIG. 2 shows a further and possibly independent embodiment of the coupling element 3, the same reference numerals or component designations being used for the same parts as in the previous FIG. 1. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding FIG. 1.
  • a first bearing device 12 comprises a first rotatable shaft 17 and a second bearing device 13 comprises a second rotatable shaft 18, the first shaft 17 and the second shaft 18 being rotatably coupled to one another.
  • a first toothed pulley 19 is also arranged and on the second shaft 18 is a second toothed belt pulley 20 arranged.
  • the first toothed belt pulley 19 and the second toothed belt pulley 20 are connected to one another via a toothed belt 21.
  • the first bearing device 12 and the second bearing device 13 comprise in the illustrated embodiment for mounting the first shaft 17 and the second shaft 18 several ball bearings 22.
  • ball bearings 22 instead of ball bearings 22, other bearings selected from a group comprising plain bearings and roller bearings can be used .
  • a third coupling member 23 is mounted by means of the first bearing device 12, by means of which a gripping tool 8 can be coupled to the Koppelele element 3.
  • the gripping tool 8 comprises a tool coupling element 24, by means of which the gripping tool 8 can be connected or coupled to the coupling element 3.
  • the second coupling element 11 comprises an interface 27 between the second manipulator 4 and the coupling element 3.
  • a line for a fluid working medium 25 or an electrical signal 26 in the second manipulator 4 can be fluidly or electrically connected by means of the interface 27 to a line for a fluid working medium 25 or an electrical signal 26 in the coupling element 3.
  • a fluid working medium or an electrical signal can be conducted to the gripping tool 8 via the line for the fluid working medium 25 or the electrical signal 26.
  • the first bearing device 12 in the illustrated embodiment comprises a rotary transmitter 28 by means of which the fluid working medium 25 or the electrical signal 26 can be transmitted to the gripping tool 8.
  • the first manipulator 2 comprises a rotary drive 31.
  • the first coupling element 7 is acted upon by the rotary movement 14 by a predetermined angle of rotation.
  • the rotary drive 31 can be a speed-controllable three-phase servomotor with electromagnetic brakes.
  • the first coupling element 10 is rotated by an angle of rotation by means of the rotary drive 31, depending on the transmission ratio.
  • the rotary movement 14 is then transmitted via the second Lagervor direction 13 of the first coupling element 10 to the first storage device 12, the component 5 or sheet metal part 6 from a first spatial position by a predetermined or defined angle of rotation into a second spatial position is twisted.
  • the angle of rotation can be, for example, a 90 degree angle. If processing steps such as bends on a rectangular sheet metal part 6 have been completed on one longitudinal side, this can be rotated by 90 degrees, for example, in order to carry out bends on a narrow side of the rectangular sheet metal part 6.
  • the first toothed belt pulley 19 has a first pulley diameter and the second toothed belt pulley 20 has a second pulley diameter, the first pulley diameter being different from the second pulley diameter. Different transmission ratios can thus be implemented.
  • the coupling element 3 comprises at least one third coupling element for at least one third manipulator.
  • FIG. 3 shows a further and possibly independent embodiment of the coupling element 3, the same reference numerals or component designations being used for the same parts as in the previous FIGS. 1 and 2. In order to avoid unnecessary repetitions, reference is made to the detailed description in the previous FIGS. 1 and 2.
  • the coupling element 3 is shown in a plan view. According to the exemplary embodiment, a first toothed belt pulley 19 and a second toothed belt pulley 20 are of the same size.
  • the first toothed belt pulley 19 and the second toothed belt pulley 20 are connected to each other via a toothed belt 21.
  • a chain can be provided instead of a toothed belt 21, by means of which the first toothed belt pulley 19 and the second toothed belt pulley 20 are connected to one another.
  • FIG. 4 shows a further and possibly independent embodiment of the coupling element 3, the same reference numerals or component designations being used for the same parts as in the preceding FIGS. 1 to 3. In order to avoid unnecessary repetitions, reference is made to the detailed description in the preceding FIGS. 1 to 3.
  • Fig. 4 shows an embodiment of the coupling element 3 in a side view, wherein on egg ner first rotatable shaft 17, a first gear 34 of a gear transmission 35 is arranged and on a second rotatable shaft 18, a second gear 36 of the gear transmission 35 is arranged.
  • a rotary movement 14 acting on the first shaft 17 can be transmitted via the first gear wheel 34 to the second gear wheel 36 and the second shaft 18.
  • the gear transmission 35 comprises a plurality of differently dimensioned gears, depending on the desired transmission ratio.
  • FIG. 5 shows a further and possibly independent embodiment of the coupling element 3, the same reference numerals or component names being used for the same parts as in the previous FIGS. 1 to 4.
  • the coupling element 3 is provided with a gear transmission 35 in a plan view Darge.
  • a rotary movement 14 acting on a first shaft 17 can in turn be transmitted via a first gear 34 to a second gear 36 and a second shaft 18.
  • FIG. 6 a further and possibly independent embodiment of the coupling element 3 is shown, the same reference numerals or component designations being used for the same parts as in the preceding FIGS. 1 to 5. In order to avoid unnecessary repetitions, reference is made to the detailed description in the preceding FIGS. 1 to 5.
  • the second coupling element 11 comprises a shape-flexible or spring-elastic bearing element 37 in order to be able to compensate for inaccuracies of a manipulator or manufacturing tolerances.
  • the bearing element 37 can be designed as a vacuum suction device 30.
  • FIG. 7 a further and possibly independent embodiment of the coupling element 3 is shown, the same reference numerals or component designations being used for the same parts as in the preceding FIGS. 1 to 6. In order to avoid unnecessary repetitions, reference is made to the detailed description in the preceding FIGS. 1 to 6.
  • Fig. 7 shows a further embodiment of the coupling element 3, wherein that of the Kop pelelement 3 forms an integral unit with a gripping tool 8.
  • a third coupling member 23 can form a common assembly with a rotary transmitter 28, the third coupling member 23 being rotatably mounted.
  • the gripping tool 8, for example in the form of a vacuum gripper 29, is fixedly coupled to the coupling element 3 so that it does not have to be coupled in an additional work step before the transport or handling of a component 5.
  • FIG. 8 a further and possibly independent embodiment of a production system 38 is shown, the same reference numerals or component designations being used for the same parts as in the preceding FIGS. 1 to 7. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding FIGS. 1 to 7.
  • the manufacturing plant 38 with a bending machine 39 and a Manipula gate arrangement 1 is shown.
  • a first manipulator 2 is coupled to a first coupling element 10 of a coupling element 3 and a second manipulator 4 is coupled to a second coupling element 11 of the coupling element 3.
  • a gripping tool 8 in the form of a vacuum gripper 29 with vacuum suction cups 30 is coupled to the first bearing device 12 of the coupling element 3.
  • the sheet metal part 6 is picked up by the gripping tool 8 and transported to the bending machine 39.
  • a first bending cycle with at least one bending step is carried out on the sheet metal part 6 on the bending machine 39.
  • a rotary movement 14 is applied to the first coupling element 10 by means of the first manipulator 2, the rotary movement 14 being transmitted to a first bearing device 12 via a second bearing device 13 of the first coupling element 10. Subsequently, the rotary movement 14 is transmitted from the first Lagervor direction 12 to the gripping tool 8 and the sheet metal part 6 held thereon, the sheet metal part 6 being rotated from a first spatial position by a first predetermined angle of rotation into a second spatial position.
  • At least one second bending cycle with at least one bending step can be carried out on the sheet metal part 6.
  • the sheet metal part 6 can be rotated from the second spatial position by a second predetermined angle of rotation into at least a third spatial position, whereupon a third bending cycle can be carried out, etc.
  • the exemplary embodiments show possible design variants, whereby it should be noted at this point that the invention is not limited to the specifically shown design variants dersel ben, but rather various combinations of the individual design variants with one another are possible and this possible variation is based on the teaching on technical action
  • the present invention is within the ability of the person skilled in the art working in this technical field.
  • the scope of protection is determined by the claims.
  • the description and the drawings are to be used to interpret the claims.
  • Individual features or combinations of features from the various exemplary embodiments shown and described can represent independent inventive solutions for themselves. The task on which the independent inventive solutions are based can be found in the description.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de manipulation (1) destiné au transport et/ou à la manutention de pièces (5), notamment de pièces en feuille métallique (6), et un procédé de pliage d'une pièce (5) faisant intervenir un système de manipulation (1), ledit système de manipulation comprenant un premier manipulateur (2) doté d'un premier organe d'accouplement (7) monté rotatif et destiné à un outil de préhension (8) et un deuxième manipulateur (4) doté d'un deuxième organe d'accouplement (9) destiné à un outil de préhension (8), un élément de liaison (3) comprenant un premier élément d'accouplement (10) destiné au premier manipulateur (2), un deuxième élément d'accouplement (11) destiné au deuxième manipulateur (4) et un premier dispositif de support (12) rotatif destiné à l'outil de préhension (8), le premier élément d'accouplement (10) comportant un deuxième dispositif de support (13) rotatif, le deuxième dispositif d'accouplement (13) étant couplé mécaniquement au premier dispositif de support (12) et un mouvement de rotation (14) agissant sur le premier élément d'accouplement (10) étant transmissible au premier dispositif de support (12) par l'intermédiaire du deuxième dispositif de support (13).
EP20780900.5A 2019-09-02 2020-09-01 Dispositif de manipulation et méthode pour plier une pièce Active EP4025391B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50763/2019A AT522896B1 (de) 2019-09-02 2019-09-02 Manipulatoranordnung und Verfahren zum Biegen eines Bauteils
PCT/AT2020/060326 WO2021042147A1 (fr) 2019-09-02 2020-09-01 Système de manipulation et procédé de pliage d'une pièce

Publications (3)

Publication Number Publication Date
EP4025391A1 true EP4025391A1 (fr) 2022-07-13
EP4025391C0 EP4025391C0 (fr) 2023-10-25
EP4025391B1 EP4025391B1 (fr) 2023-10-25

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP20780900.5A Active EP4025391B1 (fr) 2019-09-02 2020-09-01 Dispositif de manipulation et méthode pour plier une pièce

Country Status (4)

Country Link
EP (1) EP4025391B1 (fr)
CN (1) CN114302777A (fr)
AT (1) AT522896B1 (fr)
WO (1) WO2021042147A1 (fr)

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AT522896A1 (de) 2021-03-15
WO2021042147A1 (fr) 2021-03-11
EP4025391B1 (fr) 2023-10-25
CN114302777A (zh) 2022-04-08
AT522896B1 (de) 2021-12-15

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